ACON/PCON Series Simple Absolute Unit. Operation Manual, First Edition

Transcription

1 ACON/PCON Series Simple Absolute Unit Operation Manual, First Edition

2 1. Controller Versions Supporting the Simple Absolute Unit The simple absolute unit can be connected to controllers of the following versions or higher: ACON: Ver. 9 PCON: Ver. 8 * ACON-PL/PO and PCON-PL/PO controllers do not support the simple absolute unit. 2. Charging the Battery Always charge the battery when the simple absolute unit is started for the first time after the delivery, or after the battery has been replaced. The battery in the simple absolute unit is charged automatically while the power is supplied to the controller, so keep the main power on for at least 72 hours. (The STATUS0 lamp will illuminate in green when the battery has been fully charged.) The actuator can be moved and its position table changed while the battery is charged. If the power has been cut off for an extended period (not exceeding the specified backup time), also charge the battery for at least 72 hours. 3. When the Power Is Cut Off (1) Absolute data may be lost if the actuator receives vibration, shock, etc., or the slider, etc., is moved while the power is cut off. When you turn on the power the next time, an absolute encoder error may generate, indicated by a green RDY/ALM lamp and red STATUS1 lamp. In this case, you must reset the alarm and perform home return. While the power is cut off, do not move the slider or rod at a speed greater than the specified speed. (2) While the battery is charged, the ambient temperature affects the charge efficiency. It is recommended that the ambient temperature be kept to normal temperature (+10 to +30 C) while the battery is charged. If the ambient temperature exceeds 45 C, the charge efficiency will drop and the battery will not be charged sufficiently. An excessively high ambient temperature during charge may also lead to performance degradation or leakage of battery fluid. 4. Caution on Parameter Change If any of the following parameters is changed, an absolute error will generate. You must perform an absolute reset again after these parameters have been changed: (1) Parameter No. 5: Home return direction (2) Parameter No. 22: Home return offset (3) Parameter No. 77: Ball screw lead (4) Parameter No. 78: Axis operation type

3 Table of Contents 1. Overview Introduction How to Read the Model Name Handling the Battery of the Absolute Unit Safety Precautions Warranty Period and Scope of Warranty Specifications Basic Specifications Backup Battery Name and Function of Each Controller Part Names Functions External Dimensions Installation and Noise Elimination Installation Environment Supplied Power Noise Elimination and Installation Heat Dissipation and Installation Wiring Configuration Connecting the Dedicated Cable PCON Controller Cable ACON Controller Cable How to Open the Lid of the Simple Absolute Unit Wiring the Power Supply Operation Startup Procedure Piano Switch Settings Parameter Setting How to Perform an Absolute Reset Absolute Reset Using PIO Signals Absolute Reset from the PC Software Troubleshooting What to Do When a Problem Occurs Alarm Classification by Level Alarms, Causes and Actions... 27

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5 1. Overview 1.1 Introduction Thank you for purchasing IAI s Simple Absolute Unit. This simple absolute unit is designed exclusively for use with PCON/ACON controllers. By connecting this unit to your PCON/ACON controller, home return will no longer be necessary every time the controller power is turned off, as long as an absolute reset has been performed. This manual explains the features and usage of this product. As with any products, improper use or handling will prevent this product from fully demonstrating its designed function or may even cause the product to fail unexpectedly or prematurely. Read this manual carefully and fully understand the handling instructions explained herein, and operate the product correctly. Keep this manual with you, so that you can reference the applicable sections whenever necessary. Also refer to the operation manual for each actuator. If you are using an optional PC software or teaching pendant, refer to its manual, as well. 1

6 1.2 How to Read the Model Name <Controller type> ACON: ACON controller PCON: PCON controller <Series name> Model name for a set of simple absolute unit, battery and cables Model name for each item Simple absolute unit: ABU (battery included) Battery only: AB-7 ACON connection cable: CB-AC-PJ *** PCON connection cable: CB-PC-PJ *** *** indicates the cable length. Example) 002: 20 CM Cable differentiation ACON connection cable: PCON connection cable: Both connectors are red. One connector is white, and the other is red. Simple absolute unit Battery (AB-7) PCON connection cable (CB-PC-PJ ***) ACON connection cable (CB-AC-PJ ***) 2

7 1.3 Handling the Battery of the Absolute Unit Handle the battery by following the safety precautions specified below. 1. Never disassemble the battery. The electrolyte contained in the battery is a strong alkaline fluid that can damage the skin and clothes. 2. Never short the battery (by connecting its positive and negative terminals directly). The equipment may be damaged or generated heat may cause burns. 3. Never throw the battery into fire, as the battery may explode. Also avoid immersing the battery in water, as it may impair the battery function. 4. Do not apply solder directly onto the battery. The safety valve in the battery cap may be damaged, causing the safety mechanism to burst. 5. If the power is cut off for an extended period with the battery connector connected, the battery may enter a deep discharge state. As a result, battery fluid may leak or the battery life may become substantially shorter. If the power will be cut off for an extended period due to relocation or modification of the system, etc., unplug the battery connector. 6. When disposing of the battery, take proper measures such as placing it into the battery recycle box at an electrical appliance store, etc. * Utmost efforts have been made to ensure accuracy and completeness of this manual. Should you find any error, however, or if you have any comment regarding this manual, please contact IAI. Keep this manual in a convenient place so that you can readily reference it whenever necessary. 3

8 1.4 Safety Precautions Read the following precautions carefully and give fullest attention to safety measures. This system product has been developed as a drive part for automated machinery, etc., and is designed not to produce torque or speed beyond the levels needed to drive automated equipment. However, the following instructions must be strictly followed in order to prevent accidents. 1. Do not handle this product in any way not explained in this manual. If you have any question regarding the content of this manual, contact IAI. 2. Always use the specified genuine IAI cables for wiring the actuator and simple absolute unit. 3. Do not enter the operation area of the machine while the machine is operating or ready to operate (i.e., the controller power is turned on). If the machine is used in a location accessible to others, take proper measures such as enclosing the machine with a safety fence. 4. Always turn off the main power supply to the controller before carrying out any assembly, adjustment, maintenance or inspection work on the machine. While conducting such work, put up a sign to alert that work is in progress. Also, the operator should draw in the power cable and keep it nearby, so that other person will not connect the cable inadvertently. 5. If two or more persons work together, set action cues and confirm one another s safety before carrying out each step. When moving an axis, regardless of whether the power is turned on or off or it is done using the motor or manually, always call out to check on others and confirm that it is safe to move the axis. 6. Cable extension can be a cause of malfunction due to miswiring. If you must extend the wiring, check thoroughly and confirm that the product has been wired correctly before turning on the power. 4

9 1.5 Warranty Period and Scope of Warranty The simple absolute unit you have purchased has passed our strict shipping tests. This product comes with a warranty, the details of which are specified below. 1. Warranty Period The warranty will expire at the end of either of the following periods, whichever lapses first: 18 months after the shipment from IAI s factory 12 months after the delivery to the specified location 2. Scope of Warranty If the product fails during the above warranty period despite proper use due to a defect in workmanship or material, IAI will repair the product free of charge. Take note that the following items are excluded from the warranty: Natural discoloration of exterior paint or any other change due to aging Wear or loss of consumable parts Noise or any other subjective condition not affecting mechanisms Failure caused by improper handling or use by the customer Failure caused by insufficient or wrong maintenance or inspection Failure caused by use of parts other than genuine IAI parts Failure caused by any modification or change not permitted by IAI or its agent Failure caused by an act of God, accident, fire, etc. Only the product as delivered is covered by this warranty, without accessories or attachments. IAI will not be liable for any secondary losses resulting from an accident involving the delivered product. The customer must bring in the product to our factory. Familiarize yourself with the foregoing warranty policy. 5

10 2. Specifications 2.1 Basic Specifications Model Power-supply voltage Power-supply current Environment Shock resistance Protection class Weight External dimensions ACON/PCON-ABU DC24V±10% MAX300 ma Ambient operating temperature 0~4 C Ambient operating humidity 95% RH or below (non-condensing) Operating atmosphere Ambient storage temperature Ambient storage humidity Not containing corrosive gases or dust 0~40 C (20 C is recommended, if the unit is stored together with the battery.) 95% RH or below (non-condensing) In XYZ directions: 10 to 57 Hz --- Pulsating amplitude of mm (continuous) or mm (intermittent) Vibration resistance 57 to 150 Hz m/s 2 (continuous) or 9.8 m/s 2 (intermittent) In XYZ directions: 147 mm/s 2, 11 ms, half-sine pulse IP g (battery included) 34W X 120H X 75.3Dmm (brackets included) 6

11 2.1.1 Backup Battery The absolute specification uses a secondary battery (nickel-hydrogen battery) to retain absolute counter data in the FPGA when the power is cut off, and also to supply the power intermittently to the encoder drive circuit. (1) Battery Specification Item Description Type Cylindrical sealed nickel-hydrogen battery Manufacturer SANYO Electric Co., Ltd. Model AB-7 Nominal voltage 3.6 V (1.2 V x 3) Rated capacity 3300 mah Average life 3 years Weight 190 g Charge time Approx. 72 hours Approx. backup time after cutoff of power 4 levels of 5, 10, 15 and 20 days (2) Charging the Battery Always charge the battery when the simple absolute unit is started for the first time after the delivery, or after the battery has been replaced. The battery in the simple absolute unit is charged automatically while the power is supplied to the controller, so keep the main power on for at least 72 hours. The actuator can be moved and its position table changed while the battery is charged. If the power has been cut off for an extended period (not exceeding the specified backup time), also charge the battery for at least 72 hours. * For the specified backup time, refer to 5.1.1, Piano Switch Settings. (3) Replacing the Battery The battery is a consumable part, which means that its initial characteristics will deteriorate through repeated charging. If the backup time has become significantly shorter, the battery is reaching its life and must be replaced. Although the exact timing of replacement varies depending on the ambient temperature and discharge condition, a rough guide is approximately three years after the battery is connected to the controller. The battery unit has a label attached to it, showing a date three years from the shipment. Use this date as a reference. Caution: (1) Absolute data may be lost if the actuator receives vibration, shock, etc., or the slider, etc., is moved while the power is cut off. When you turn on the power the next time, an absolute encoder error may generate, indicated by a green RDY/ALM lamp and red STATUS1 lamp. In this case, you must reset the alarm and perform home return. While the power is cut off, do not move the slider or rod. (2) While the battery is charged, the ambient temperature affects the charge efficiency. It is recommended that the ambient temperature be kept to normal temperature (+10 to +30 C) while the battery is charged. If the ambient temperature exceeds 45 C, the charge efficiency will drop and the battery will not be charged sufficiently. An excessively high ambient temperature during charge may also lead to performance degradation or leakage of battery fluid. 7

12 2.2 Name and Function of Each Controller Part Names [1] Status indicator LEDs RDY/ALM (green/red), STATUS1 (green/red), STATUS0 (green/orange/red) [2] Setting switches [4] Ni-MH battery [3] Backup battery connector [8] Host controller connector [5] Power-supply terminal block [6] RCP actuator connector [7] RCA actuator connector 8

13 2.2.2 Functions [1] Status indicator LEDs RDY/ALM Operation Steady green Steady red - The system is normal. - The system is experiencing an error. RDY/ALM Operation Blinking green Blinking red Update mode STATUS1 Steady green Steady red - Operation Absolute reset has been completed (with steady green RDY). Absolute reset is not yet completed (with steady green - RDY). - FPGA communication error (with steady red RDY) STATUS0 Steady green Steady orange Steady red Operation - - The battery is fully charged. - - The battery is charging. - - The battery is not connected. [2] Setting switches These switches are used to set the speed and turn on/off the update mode. (The switches are designated as 1, 2, 3 and 4 from the top.) Switch Function 1 Speed setting switch 1 2 Speed setting switch 2 3 Update mode selector switch (Keep this switch in the OFF position.) Model selector switch (Keep this switch in the ON position, except 4 when a RA10 actuator is used.) [Settings of speed selector switches] Switch 1 2 Speed (rpm) Approx. backup time OFF OFF days ON OFF days OFF ON days ON ON days Note 1) The backup time is a reference value assuming that the supplied battery is used at normal temperature without coordinate changes. Note 2) If the motor is operated at a speed exceeding the specified speed while the controller power is turned off, absolute data will be lost. 9

14 [Update mode selector switches] Switch 3 Function ON Update mode OFF Normal mode [Model selector switches] Switch 4 Function ON Model other than RC10C OFF RC10C [3] Backup battery connector This connector is used to connect the absolute-data backup battery. [4] Ni-MH battery The absolute-data backup battery is stored here. [5] Power-supply terminal block The main power (24-VDC) input terminals of this unit are provided. Positive side of the 24-V power supply Negative side of the 24-V power supply Note) Connect the simple absolute unit to the same power ground used by the controller to which the unit is connected. [6] RCP connector This connector is used to connect the PG cable of a RCP actuator. [7] RCA connector This connector is used to connect the PG cable of a RCA actuator. [8] Host controller connector This connector is used to send encoder feedback signals to the host controller. Note) Take note that the cable is different depending on the controller to which the unit is connected. PCON: CB-PC-*** ACON: CB-AC-*** *** indicates the cable length. Example) 002: 20 cm 10

15 2.3 External Dimensions 11

16 3. Installation and Noise Elimination Pay due attention to the environment in which the controller is installed. 3.1 Installation Environment (1) When installing and wiring the controller, do not block the cooling vent holes. (If sufficient ventilation is not provided, not only the controller is unable to demonstrate its designed performance, but it may also cause unexpected breakdown.) (2) Prevent foreign objects from entering the controller through vent holes. The controller is not constructed dustproof or waterproof (oilproof). Accordingly, avoid using the controller in a dusty place or place subject to oil mist or cutting fluid. (3) Do not expose the controller to direct sunlight or irradiated heat from heat treatment ovens or other large heat sources. (4) Use the controller in an environment of 0 to 40 C in ambient temperature and 85% or below (non-condensing) in humidity, free from corrosive or natural gases. (5) Use the controller in an environment where it will not be subject to external vibration or shock. (6) Prevent entry of electrical noise into the controller or its cables. 3.2 Supplied Power The supplied power is 24 VDC ± 10%. (Maximum power-supply current: 300 ma) 3.3 Noise Elimination and Installation This section explains how to eliminate noise in the controller during use. (1) Wiring and power supply [1] Provide dedicated class D grounding. The grounding wire should have a wire size of 2.0 to 5.5 mm 2 or larger. Simple absolute unit Other equipment Simple absolute unit Other equipment Connect to ground using a cable of the largest size over the minimum distance. Metal enclosure Class D grounding Good Avoid this type of grounding. 12

17 [2] Wiring precautions Use a twisted cable for connecting the 24-VDC power supply. Wire the controller cables separately from high-current lines of power circuits, etc. (Do not bundle them together or place them in the same cable duct.) (2) Noise sources and how to prevent noise There are many noise sources, but the ones you should pay greatest attention to are solenoid valves, magnet switches and relays. Noise from these parts can be prevented by the methods specified below. [1] AC solenoid valves, magnet switches and relays Action --- Install a surge absorber in parallel with the coil. Point Install the surge absorber at the closest possible location to the coil. If the surge absorber is installed on a terminal block or otherwise away from the coil, the surge absorber cannot eliminate noise effectively. [2] DC solenoid valves, magnet switches and relays Action --- Install a diode in parallel with the coil. Determine an appropriate diode capacity according to the load capacity. With DC circuits, connecting the diode in wrong polarities may damage the diode, internal controller parts, and/or DC power supply. Pay careful attention to the diode polarities. 13

18 3.4 Heat Dissipation and Installation Design the control panel size, controller layout and cooling method so that the ambient temperature around the controller will be kept to 40 C or below. Mount the controller vertically on a wall, as shown below. Since the controller is cooled by natural convection, be sure to heed this orientation and provide sufficient clearances on top and bottom to make sure sufficient air will flow around the controller. If multiple controllers are installed side by side, provide an agitation fan at the top of the controllers. Also provide a minimum clearance of 80 mm between the front panel of the controller and the wall (lid). At least 50 mm At least 80 mm At least 55 mm At least 40 mm At least 50 mm 14

19 4. Wiring 4.1 Configuration Simple absolute unit Dedicated harness Motor cable Encoder cable RCA/RCP2 actuator Caution: When connecting the dedicated harness to the simple absolute unit, connect it to the correct connector. There are two connectors on the simple absolute unit, one for RCA and the other for RCP2. 15

20 4.2 Connecting the Dedicated Cable Connect the dedicated harness to the PG connector on the controller and the CONTROLLER connector on the simple absolute unit. * Make sure the connectors at the ends of the cable are oriented correctly PCON Controller Cable PCON controller end Simple absolute unit end Stripped length of sheath: 25 Stripped length of sheath: 25 Shield, braided (Milky white) (Red) Signal name Blue Blue Signal name Orange Orange Green Green Brown Brown Gray Gray Red Red Black Black Yellow Yellow Pink Pink Purple Purple White White Blue/Red Orante/White Blue/Red Orante/White Green/White Green/White Drain Drain 16

21 4.2.2 ACON Controller Cable * Make sure the connectors at the ends of the cable are oriented correctly. ACON controller end Simple absolute unit end Stripped length of sheath: 25 Stripped length of sheath: 25 Shield, braided Signal name (Red) Blue Blue (Red) Signal name Orange Orange Green Green Brown Brown Gray Gray Red Red Black Black Yellow Yellow Pink Pink Purple White Blue/Red Orange/White Purple White Blue/Red Orange/White Green/White Green/White Drain Drain 17

22 4.3 How to Open the Lid of the Simple Absolute Unit Lift the lid. Lid closed Lid open 18

23 4.4 Wiring the Power Supply Wiring the Power Supply Simple absolute unit Input power supply 24 VDC (300 ma max. per unit) Use a power cable satisfying the following specifications. Item Applicable wire Terminal Temperature rating of insulation cover Specification Single wire: 1.0 / Stranded: 0.8 mm 2 / Size: AWG 18 (copper wire) M3 round terminal of 6 mm or narrower 60 C or above Note) Take note of the following points when providing a separate power supply for the simple absolute unit and ACON/PCON controller, respectively: (1) Connect the simple absolute unit to the same power ground used by the controller to which the unit is connected. (2) Power up the simple absolute unit before the controller. (The two may be powered up simultaneously.) If the controller power is turned on first, the controller will not be able to recognize the simple absolute unit and an encoder receive error (0E5) may generate. 19

24 5. Operation 5.1 Startup Procedure Piano Switch Settings * Set the piano switches after disconnecting the battery. Connect the battery after the piano switches have been set. (Refer to 2.2.1, Names for the location of piano switches.) Setting switches These switches are used to set the speed and turn on/off the update mode. (The switches are designated as 1, 2, 3 and 4 from the top.) Switch Function 1 Speed setting switch 1 2 Speed setting switch 2 3 Update mode selector switch (Keep this switch in the OFF position.) Model selector switch (Keep this switch in the ON position, except when a RA10 4 actuator is used.) [Settings of speed selector switches] If the motor is operated at a speed exceeding the specified speed while the controller power is turned off, absolute data will be lost. The motor speed can be set to one of four levels. The lower the motor speed, the longer the backup time will become. Switch 1 2 Motor speed (rpm) Backup time (approximate) OFF OFF days ON OFF days OFF ON days ON ON days Note 1) The backup time is a reference value assuming that the supplied battery is used at normal temperature without coordinate changes. Note 2) The default settings are OFF for switch 1 and ON for switch 2, which sets the motor speed to 400 rpm. [Update mode selector switches] Switch Function 3 ON Update mode OFF Normal mode In the update mode, the RDY/ALM LED blinks in green/red. [Model selector switches] Switch 4 Function ON Model other than RCP2-RC10C OFF RCP2-RC10C 20

25 5.1.2 Parameter Setting If the simple absolute unit is purchased separately and connected to an existing controller, one user parameter must be set. (If the simple absolute unit was ordered together with the controller, this parameter is set at the factory prior to the shipment.) * You need the PC software or teaching pendant to set user parameters. Parameter to be changed User parameter No. 83, Absolute unit [0: Do not use / 1: Use] When using the absolute unit, set this parameter to [1: Use]. 21

26 5.2 How to Perform an Absolute Reset Absolute Reset Using PIO Signals * Refer to the operation manual for your controller for details on input signals. (1) Supply the main power (24 VDC) to the controller and simple absolute unit. (2) An absolute encoder error (2) alarm is output. (3) Input a PIO alarm reset signal. (4) Turn ON the PIO pause input. Note) When a pause signal input is provided in the selected PIO pattern. (5) Input a PIO servo ON signal. Note) When a servo ON signal input is provided in the selected PIO pattern. The SV lamp on the controller should illuminate in green. (6) Input a PIO home return signal. When the home return is completed, the SV lamp on the controller should illuminate in green. (7) An absolute reset is executed upon completion of the home return (HEND ON). * Alarm reset, servo ON and home return can also be performed from the teaching pendant or PC software. 22

27 5.2.2 Absolute Reset from the PC Software (1) Supply the main power (24 VDC) to the controller and simple absolute unit. (2) Bring the PC software online to communicate with the controller (connect the controller and PC using a dedicated communication cable). (3) Select the MANU operation mode. Select teaching mode 1 or teaching mode 2. (4) A 0EE: Absolute encoder error (2) generates. (5) Select Yes (Y). (6) Click Position (T), select Edit/Teach (E) [1], select the applicable axis number [2], and then click OK [3]

28 (7) Click Servo. The servo lamp should illuminate in blue when Servo is clicked. (8) Click Home. The home lamp should illuminate in blue when home return is completed. An absolute reset has been executed. 24

29 6. Troubleshooting 6.1 What to Do When a Problem Occurs If a problem occurred, follow the steps below to facilitate speedy recovery and prevent the same problem from occurring again: a. Check the status indicator lamps on the ACON/PCON controller. SV (steady green) --- The servo is on. ALM (steady red) --- An alarm is present, or an emergency stop has been actuated or the motor drive source has been cut off. b. Check if any alarm has been generated. If an alarm is present, you can check the corresponding error code by connecting the PC software or teaching pendant. Even after the controller has been reset, detailed error information can still be checked using the PC software or teaching pendant. c. Check the cables for poor contact, disconnection, or pinching. Before checking electrical continuity, turn off the power (to prevent a runaway system) and disconnect the cables (to prevent a sneak current path). d. Investigate the events leading up to the problem and the operating condition when the problem occurred. e. Check the serial numbers of the controller and actuator. f. Analyze the cause. g. Take proper actions. (Reference) How the indicator lamps on the simple absolute unit change in each condition RDY/ALM Steady green Steady red Operation - The system is normal. - The system is experiencing an error. RDY/ALM Operation Blinking green Blinking red Update mode (Note) STATUS1 Steady green Steady red - Operation Absolute reset has been completed (with steady green RDY). Absolute reset is not yet completed (with steady green - RDY). - FPGA communication error (with steady red RDY) STATUS0 Operation Steady green Steady orange Steady red - - The battery is fully charged. - - The battery is charging. - - The battery is not connected. (Note) The unit is in the update mode. Disconnect the battery and set piano switch 3 to the OFF position. For more information on how to set the piano switches, refer to 5.1.1, Piano Switch Settings. 25

30 6.2 Alarm Classification by Level Alarms are classified into two levels according to the associated symptoms. Alarm level ALM lamp *ALM signal Operation cancellation Lit Output Cold start Lit Output What happens when the alarm occurs The actuator decelerates to a stop. The servo turns off. The actuator decelerates to a stop. The servo turns off. How to reset Input an alarm reset signal (RES) from the PLC. Perform a reset from the PC/teaching pendant. Reconnect the power. (Note) The *ALM output signal is a contact-b signal. After the power is input, the signal remains ON in normal condition and will turn OFF when an alarm occurs. Although this signal will turn OFF when the power is cut off, it cannot be used as a contact-b interlock signal. How to reset alarms of operation-cancellation level Input an alarm reset signal (RES) for at least 6 msec. The *ALM signal turns ON. Turn the RES signal OFF after confirming that *ALM is ON. At least 6 msec Alarm reset input signal (RES) Alarm output signal (*ALM) Alarm is present. Alarm is reset. Caution: Reset each alarm after identifying and removing the cause. If the cause cannot be removed, or when the alarm cannot be reset after removing the cause, contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed. 26

31 6.3 Alarms, Causes and Actions Alarms relating to the simple absolute unit Code Error Cause/action Alarm reset 0B6 Phase-Z detection timeout 0E5 Encoder receive error 0E8 Phase A/B open detection 0E9 Phase A open detection 0EA Phase B open detection Cause: Phase Z could not be detected within the phase-z output period of the simple absolute unit. [1] When the detail code is H 0001 Pole sensing + magnetic pole check [2] When the detail code is H 0002 Operation after reversing, following home return and push-motion operation Action: Check the wiring condition of the motor relay cable. Check the wiring condition of brake cable, and turn on/off the brake reset switch to see if click sound is heard. Check if the mechanical parts are properly assembled. Move the actuator away from the mechanical end and reconnect the power. If the load is normal, turn off the power and try moving it manually to check the slide resistance. Cause: [1] The controller is powered up before the simple absolute unit when the 24-V power supply is turned on. [2] When the detail code is H 0001 The absolute unit cannot communicate properly due to noise, etc. [3] When the detail code is H 0002 The controller cannot communicate properly with the absolute unit because the communication line in the encoder cable is disconnected. Action: [1] Make sure the simple absolute unit is powered up before (or simultaneously with) the controller. [2] Change the installation location of the controller. Implement noise measures such as installing a FG, noise filter, clamp filter, etc. [3] Check the connectors on the encoder relay cable between the controller and simple absolute unit for looseness. Or, replace the cable. Encoder signals cannot be detected properly. Cause: [1] The connectors on the encoder relay cable are loose or disconnected. [2] Piano switch 4 is set wrongly. [3] RA10C and non-ra10c actuators are combined and the encoder cables are not connected to the correct actuators. Action: [1] Check the connectors for looseness and disconnection. [2] Check the switch setting by referring to 5.1.1, Piano Switch Settings. Operationcancellation level X Cold-start level X Cold-start level 27

32 Code Error Cause/action Alarm reset [3] Check the model number of the encoder cable. (Simple absolute unit Actuator) Note) RCP2 series only Cable for RA10C type: CB-RFA-* Cable for other actuators: CB-RCP2-* 0ED Absolute encoder error (1) 0EE Absolute encoder error (2) 0EF Absolute encoder error (3) Cause: [1] When the power was reconnected with the absolute unit communicating with the controller following an absolute reset, the current position changed due to an external factor, etc. [2] When an absolute reset was performed with the absolute unit communicating with the controller, the current position changed due to an external factor, etc. Action: [1] When the detail code is H 0001 Turn off the power and make sure the actuator is not receiving vibration, etc., and then turn on the power again. [2] When the detail code is H 0002 Make sure the actuator is not receiving vibration, etc., and then perform home return again. Cause: [1] The power was turned on for the first time after the battery was connected. [2] When the detail code is H 0001 The battery voltage dropped to a level at which the encoder counter data in the absolute unit could no longer be retained. [3] When the detail code is H 0002 The encoder connector was removed during a power outage, or the encoder cable is disconnected. [4] When the detail code is H 0003 A parameter was changed. Action: If [1], [2] or [4] is the cause, perform an absolute reset by following the specified procedure (5.2, How to Perform an Absolute Reset ). [2] Keep the power on for at least 48 hours to fully charge the battery, and then perform an absolute reset. Cause: While the power was cut off, the current value changed because the motor operated at a speed exceeding the specified speed due to an external factor, etc. Action: Change the applicable setting on the simple absolute unit and take measures to prevent the motor speed from rising above the specified speed while the power is cut off. If the backup time is sufficient, increase the motor speed setting. Reference: 5.1.1, Piano Switch Settings When this error occurs, perform an absolute reset by following the specified procedure (5.2, How to Perform an Absolute Reset ). * For other error codes, refer to the operation manual for the controller. Operationcancellation level Operationcancellation level Operationcancellation level 28

33 Catalog No.: MJ0179-1A (Mar, 2007) Head Office: 2690 W. 237th Street, Torrance, CA TEL (310) FAX (310) Chicago Office 1261 Hamilton Parkway Itasca, IL TEL (630) FAX (630) Website: Ober der Röth 4, D Schwalbach am Taunus, Germany TEL FAX The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright Mar. IAI Corporation. All rights reserved.